L293D H-Bridge
==============

.. image:: l293d.jpg
   :width: 300
   :align: center

Your esieabot (from 2020 to 2022) is equipped with an L293D H-bridge enabling it to control these 2 :doc:`dc motors</understand/dcmotor/dcmotor>` in all directions.

Operation
---------

The L293D is an H-bridge that can control 2 motors at the same time. 

.. image:: https://upload.wikimedia.org/wikipedia/commons/d/d4/H_bridge.svg
    :width: 400
    :align: center

Depending on which inputs are activated, the motors will turn in one direction or the other.

.. image:: https://upload.wikimedia.org/wikipedia/commons/f/f2/H_bridge_operating.svg
    :width: 400
    :align: center

*Cyril BUTTAY, CC BY-SA 3.0 <http://creativecommons.org/licenses/by-sa/3.0/>, via Wikimedia Commons*

Connection
-----------

For each motor, connect the following inputs and outputs:

- enable input: enables or disables a motor
- Input 1 (or 3): to operate the motor in one direction
- Input 2 (or 4): to operate the motor in the other direction
- Output 1 (or 3): one of the motor terminals
- Output 2 (or 4): the other motor terminal

.. note:: Note that there is no defined direction through the H-bridge. The + and - motor terminals and the forward/reverse direction are purely arbitrary.

Technical data
---------------

The complete data sheet is available here: https://pdf1.alldatasheet.fr/datasheet-pdf/view/22432/STMICROELECTRONICS/L293D.html